TY - JOUR N2 - In this work, a novel approach to designing an on-line tracking controller for a nonholonomic wheeled mobile robot (WMR) is presented. The controller consists of nonlinear neural feedback compensator, PD control law and supervisory element, which assure stability of the system. Neural network for feedback compensation is learned through approximate dynamic programming (ADP). To obtain stability in the learning phase and robustness in face of disturbances, an additional control signal derived from Lyapunov stability theorem based on the variable structure systems theory is provided. Verification of the proposed control algorithm was realized on a wheeled mobile robot Pioneer–2DX, and confirmed the assumed behavior of the control system. L1 - http://journals.pan.pl/Content/115401/PDF/AME_2009_132098.pdf L2 - http://journals.pan.pl/Content/115401 PY - 2009 IS - No 3 EP - 236 DO - 10.24425/ame.2009.132098 KW - wheeled mobile robot KW - approximate dynamic programming KW - reinforcement learning KW - robust tracking control KW - actor-critic structure A1 - Hendzel, Zenon A1 - Szuster, Marcin PB - Polish Academy of Sciences, Committee on Machine Building VL - vol. 56 DA - 2009 T1 - Approximate dynamic programming in robust tracking control of wheeled mobile robot SP - 223 UR - http://journals.pan.pl/dlibra/publication/edition/115401 T2 - Archive of Mechanical Engineering ER -